A Field Reconfigurable Manipulator for Rovers

Award Information
Agency:
National Aeronautics and Space Administration
Branch
n/a
Amount:
$99,985.00
Award Year:
2007
Program:
SBIR
Phase:
Phase I
Contract:
NNJ07JB32C
Award Id:
83865
Agency Tracking Number:
065932
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
100 N.E. Loop 410, Suite 520, San Antonio, TX, 78216
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
193786014
Principal Investigator:
RobertBurridge
Principal Investigator
(281) 461-7884
burridge@traclabs.com
Business Contact:
JonathanFast
President
(210) 822-2310
jfast@traclabs.com
Research Institute:
n/a
Abstract
Robots will be precursors to human exploration of the lunar surface. They will be expected to prepare the lunar surface for human habitation as well as conduct scientific investigations. As humans arrive the robots should be able to shift to providing direct assistance to human exploration activities. Such tasks require a new generation of robotic vehicles -- a generation that has flexible, dexterous manipulation capabilities and adjustable software controllers that can shift between remote teleoperation, autonomy and co-located human interaction. Our innovation consists of two components. The first component is a reconfigurable, dexterous manipulator that is designed to be mounted on a mobile robot. The manipulator will be light-weight and low-power. It will contain a reconfigurable number of up to seven degrees-of-freedom. The second component is a software system that can adjust control of the manipulator from teleoperated to autonomous and that can control the mobile robot and the manipulator as a coordinated unit. We propose to implement a method called Coordinated Resolved Motion Control that will automatically and jointly control the rover as well as the manipulator such that the manipulator will stay away from singularities. Together these two innovations will substantially increase the capabilities of NASA rovers, making them more efficient and effective.

* information listed above is at the time of submission.

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